Benchmarking Protocol for Grasp Planning Algorithms

An Extensible Benchmarking Infrastructure for Motion Planning Algorithms

Multi-Metric Comparison of Optimal 2D Grasp Planning Algorithms

The planning of optimal grasps is an important problem in robotics which has been investigated by many researchers. The large number of available methods has made it difficult to discern those which plan a grasp with good overall performance, i.e. one with high strength, insensitivity to positioning errors, and ease of computation. In this paper, a new grasp planning method is introduced and co...

Grasp planning for digital humans

ii To my Family: May, Amer and Osama. iii ACKNOWLEDGMENTS I would like to thank my advisor Professor Karim Abdel-Malek for providing me with these great opportunities and for his constant encouragement. I would also like to thank Dr. Timothy Marler for his thorough critique of my work in every step along the way. Further thanks go to Dr. Jingzhou Yang for providing me with expert help on hand m...

Grasp planning under uncertainty

Aalto University, P.O. Box 11000, FI-00076 Aalto www.aalto.fi Author Ekaterina Kolycheva (née Nikandrova) Name of the doctoral dissertation Grasp planning under uncertainty Publisher School of Electrical Engineering Unit Department of Electrical Engineering and Automation Series Aalto University publication series DOCTORAL DISSERTATIONS 9/2016 Field of research Automation Technology Manuscript ...

Bayesian Grasp Planning

We present a Bayesian framework for grasp planning that takes into account uncertainty in object shape or pose, as well as robot motion error. When trying to grasp objects based on noisy sensor data, a common problem is errors in perception, which cause the geometry or pose of the object to be uncertain. For each hypothesis about the geometry or pose of the object to be grasped, different sets ...